#pragma once
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#include "CEquipment.h"
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#include "CLoadPort.h"
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#include "CAligner.h"
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#include "CFliper.h"
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#include "CArmTray.h"
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namespace SERVO {
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class CEFEM :
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public CEquipment
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{
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public:
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CEFEM();
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virtual ~CEFEM();
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public:
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virtual const char* getClassName();
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virtual void init();
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virtual void term();
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virtual void initPins();
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virtual void initSteps();
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virtual int onStepEvent(CStep* pStep, int code);
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virtual void onTimer(UINT nTimerid);
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virtual void serialize(CArchive& ar);
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virtual void getAttributeVector(CAttributeVector& attrubutes);
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virtual int recvIntent(CPin* pPin, CIntent* pIntent);
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virtual BOOL glassWillArrive(CGlass* pGlass);
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virtual void onReceiveLBData(const char* pszData, size_t size);
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virtual int onReceivedJob(int port, CJobDataS* pJobDataS);
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virtual int onSentOutJob(int port, CJobDataS* pJobDataS);
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virtual int onFetchedOutJob(int port, CJobDataB* pJobDataB);
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virtual int onStoredJob(int port, CJobDataB* pJobDataB);
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public:
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void setPort(unsigned int index, CLoadPort* pPort);
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void setAligner(CAligner* pAligner);
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void setFliper(CFliper* pFliper);
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void setArmTray(unsigned int index, CArmTray* pArmTray);
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int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
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int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
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// ¿ì½Ý·â×°
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int SendHome(int seq);
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int SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
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int SendMoveToGet(int seq, int armNo, int pos, int slot);
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int SendMoveToPut(int seq, int armNo, int pos, int slot);
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int SendGet(int seq, int armNo, int pos, int slot);
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int SendPut(int seq, int armNo, int pos, int slot);
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int SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot);
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int SendCommandClear(int seq);
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int SendBatchGet(int seq, int getPos, int getSlot);
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int SendBatchPut(int seq, int putPos, int putSlot);
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int SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot);
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int SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot);
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int SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
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int SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot);
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int SendPutAndHome(int seq, int armNo, int putPos, int putSlot);
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private:
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CLoadPort* m_pPort[4];
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CAligner* m_pAligner;
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CFliper* m_pFliper;
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CArmTray* m_pArmTray[2];
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};
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}
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